#ifndef __PICK_HPP
#define __PICK_HPP
#include "main.hpp"

extern double steerangle[7];

typedef struct {
   float   x;
   float   y;
	uint8_t pick=0;
}pick_coord;


extern pick_coord pick_coords[20];//拾取任务坐标


extern pick_coord below_six_coord[6];

extern uint8_t pick_coords_num;
extern pick_coord car_coords[3];//0last 1now 2next

extern uint8_t pick_big_sort[7];//0没有1动物2水果3交通工具

//上报数据
extern uint8_t report_coordx[20];
extern uint8_t report_coordy[20];



extern uint8_t ID[3];
extern int16_t  Position[3];
extern uint16_t Speed[3];
extern uint8_t ACC[3];

extern int16_t  Position_P[3];
extern uint16_t Speed_P[3];
extern uint8_t ACC_P[3];

extern int16_t  Position_1[3];
extern uint16_t Speed_1[3];
extern uint8_t ACC_1[3];

extern int16_t  Position_2[3];
extern uint16_t Speed_2[3];
extern uint8_t ACC_2[3];

extern int16_t  Position_3[3];
extern uint16_t Speed_3[3];
extern uint8_t ACC_3[3];

extern int16_t  Position_W1[3];
extern uint16_t Speed_W1[3];
extern uint8_t ACC_W1[3];

extern int16_t  Position_W2[3];
extern uint16_t Speed_W2[3];
extern uint8_t ACC_W2[3];

extern int16_t  Position_W3[3];
extern uint16_t Speed_W3[3];
extern uint8_t ACC_W3[3];


#define Steer2_Median 3700
#define Steer1_Median 3800

void Steer1_SetA(float angle);
void Steer2_SetA(float angle);

void Pick_Device_Init(void);

void Mag_Control(unsigned char magnum,unsigned char magstatus);




#endif